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robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
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wholeBodyDynamics: Add a wrench summer to express/publish wrenches acting on different frames in a single frame #97

Open prashanthr05 opened 3 years ago

prashanthr05 commented 3 years ago

@GiulioRomualdi wrote,

I'm currently changing the walking to take into account multiple wrenches acting on the foot.

Here I noticed that the for icub3 the wrenches are computed w.r.t to different poles (l_foot_front and l_foot_rear) https://github.com/robotology/whole-body-estimators/blob/e5cab1a6d79754f1d692d13976ec3836d456f9d6/devices/wholeBodyDynamics/app/wholebodydynamics-icub-external-eight-fts-sim.xml#L30-L33

Consequentially combining wrenches become more "complex" in the walking side. Indeed in the walking i'm assuming that the wrenches are expressed in the _sole frames. So in order to combine them I should add some new parameters in the configuration files. Do you think it's possible to express tehe frames directly in the _sole frames?

A feature in WBD to sum the wrenches acting on different frames to be expressed in a single frame would indeed be useful.

cc @traversaro @HosameldinMohamed